Collision-Free Trajectory Planning for Two Cooperative Redundant Manipulators Using the Minimum-Time Criterion

An approach is proposed to generate collision-free, near time-optimal trajectories for two cooperative redundant manipulators between two sets of end-points. The time-optimal trajectory of one manipulator is found first. Then by considering this manipulator as a moving obstacle, the collision-free trajectory for the other manipulator is found. After obtaining the trajectories of both manipulators, an iterative approach is proposed to scale the time profile of the trajectories to minimize the traveling time. A simulation example is included to illustrate the validity of the proposed approach.